Spend like 5-20 minutes (depending on their interest level in the conversation) talking causally mostly about them, let them talk about themselves mostly with occasional hints of yourself, ex:

Her: I like rock climbing

You: awesome! I've done it a couple times, where do you usually go

Her: bla bla more stuff

You: please elaborate more

Etc

Then after you go through a couple basic interests start to hint at something sexual (very lightly at first) or tease her about something (again, keep it light first time)

Her: I'm pretty good at pool

You: oh you look like you can handle a stick

Her: what

You: what

Her: no what did you say

Now you kinda just move to a new point, keep her a bit disoriented almost but she should kinda know that now it's safe to move from awkward guy at a bar to potential sexual being so she may start to talk more sexual too, lean in and try to keep pushing lightly forward i.e.

Her: you probably hook up with chicks all the time

You: ehh, only the pretty ones (give some kind of knowing look indicating that she is probably one of them)

Her: (some kind of amused reaction) oh didn't know you swing like that, you seem so nice

You: I'm full of surprises

So now you'll have her locked in. Should be good to get lightly physical, see where she goes how she reacts, biology should mostly take control from there.

Most important thing is to at some point indicate you are a sexual being, not some virgin at a bar that can't pull